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ENGL
2008

Global Stabilization of Robot Control with Neural Network and Sliding Mode

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Global Stabilization of Robot Control with Neural Network and Sliding Mode
This paper presents a neural network global PID-sliding mode control method for the tracking control of robot manipulators with bounded uncertainties. A certain sliding mode controller with PID sliding function is developed. In this controller, the switching gain is tuned by a single-input radial-basis-function neural network on the reachable condition of sliding mode. Thus, the effect of chattering can be alleviated. Moreover, global sliding mode is realized by designing an exponential dynamic sliding function. Mathematical proof of the stability and convergence of the control system is given. Simulation results demonstrate that the chattering and the steady state errors are eliminated and satisfactory trajectory tracking is achieved.
T. C. Kuo, Y. J. Huang
Added 10 Dec 2010
Updated 10 Dec 2010
Type Journal
Year 2008
Where ENGL
Authors T. C. Kuo, Y. J. Huang
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